renaming

README.md

@@ -5,7 +5,7 @@
 ## TL;DR
 
 Scenario execution is a backend- and middleware-agnostic library written in Python based on the generic scenario description language [OpenSCENARIO 2](https://www.asam.net/static_downloads/public/asam-openscenario/2.0.0/welcome.html) and [pytrees](https://py-trees.readthedocs.io/en/devel/).
-It reads a scenario definition from a file and then executes it, reusing available checks and behaviors. It is easily extendable through a library mechanism.
+It reads a scenario definition from a file and then executes it, reusing available checks and actions. It is easily extendable through a library mechanism.
 This separation of the scenario definition from implementation massively reduces the manual efforts of scenario creation.
 
 To give an impression of the functionality of scenario execution, the following animation shows an example scenario with a turtlebot-like robot in simulation using Nav2 to navigate towards a specified navigation goal in a simulated warehouse environment.

examples/example_simulation/README.md

@@ -1,6 +1,6 @@
 # Example Simulation Navigation
 
-To run the Example Simulation Navigation with scenario, first build the Example Simulation Navigation Package:
+To run the Example Simulation Navigation with scenario, first build the `example_simulation` package:
 
 ```bash
 colcon build --packages-up-to example_simulation
@@ -18,6 +18,6 @@ Now, run the following command to launch the scenario:
 ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:=examples/example_simulation/scenarios/example_simulation.osc
 ```
 
-A turtlebot is initialsed with nav2 which drives to a point and back. During the ride an object is spawned in front of the turtlebot which will then drive around the object.
+A turtlebot is initialised with nav2 which drives to a goal and back. During the ride an obstacle is spawned in front of the turtlebot which will then drive around the object.
 
 For a more detailed understanding of the code structure and scenario implementation please refer to the [tutorial documentation](https://intellabs.github.io/scenario_execution/tutorials.html).

examples/example_simulation/package.xml

@@ -3,18 +3,15 @@
 <package format="3">
   <name>example_simulation</name>
   <version>1.0.0</version>
-  <description>Simulation example for scenario execution</description>
+  <description>Scenario Execution Example for Simulation</description>
   <author email="[email protected]">Intel Labs</author>
   <maintainer email="[email protected]">Intel Labs</maintainer>
   <license file="../../LICENSE">Apache-2.0</license>
 
   <depend>scenario_execution</depend>
-  <depend>scenario_execution_rviz</depend>
   <depend>scenario_execution_gazebo</depend>
   <depend>gazebo_tf_publisher</depend>
   <depend>tb4_sim_scenario</depend>
-  <depend>navigation2</depend>
-  <depend>nav2_bringup</depend>
 
   <exec_depend>rclpy</exec_depend>
 

scenario_coverage/scenario_coverage/scenario_batch_execution.py

@@ -82,11 +82,11 @@ def log_output(out, buffer):
             process = subprocess.Popen(launch_command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, stdin=subprocess.PIPE)
 
             log_stdout_thread = Thread(target=log_output, args=(process.stdout, output, ))
-            log_stdout_thread.daemon = True  # die with the program TODO: remove
+            log_stdout_thread.daemon = True  # die with the program
             log_stdout_thread.start()
 
             log_stderr_thread = Thread(target=log_output, args=(process.stderr, output, ))
-            log_stderr_thread.daemon = True  # die with the program TODO: remove
+            log_stderr_thread.daemon = True  # die with the program
             log_stderr_thread.start()
 
             print(f"### Waiting for process to finish...")

scenario_execution/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
   <name>scenario_execution</name>
   <version>1.0.0</version>
-  <description>Package for ROS scenario execution</description>
+  <description>ROS Scenario Execution</description>
   <author email="[email protected]">Intel Labs</author>
   <maintainer email="[email protected]">Intel Labs</maintainer>
   <license file="../LICENSE">Apache-2.0</license>

scenario_execution/scenario_execution/__init__.py

@@ -16,14 +16,12 @@
 
 """ Main entry for scenario execution """
 
-from . import action_plugins
-from . import external_methods
+from . import actions
 from .logging_ros import RosLogger
 from .scenario_execution_ros import ROSScenarioExecution
 
 __all__ = [
-    'action_plugins',
-    'external_methods',
+    'actions',
     'RosLogger',
     'ROSScenarioExecution'
 ]

scenario_execution/scenario_execution/action_plugins/init_nav2.py → scenario_execution/scenario_execution/actions/init_nav2.py

@@ -36,7 +36,7 @@
 
 class InitNav2State(Enum):
     """
-    States for executing a nav-to-pose with nav2
+    States for executing a initialization of nav2
     """
     IDLE = 1
     LOCALIZER_STATE_REQUESTED = 2
@@ -54,14 +54,7 @@ class InitNav2State(Enum):
 
 class InitNav2(py_trees.behaviour.Behaviour):
     """
-    Class to navigate to a pose
-
-    Args:
-        initial_pose: a 6 numbers list in str form containing the initial pose of the entity
-            in the shape of [x, y, z. roll, pitch, yaw].
-        goal_pose: a 6 numbers list in str form containing the goal pose of the entity
-            in the shape of [x, y, z. roll, pitch, yaw].
-
+    Class to initialize nav2
     """
 
     def __init__(self, name, associated_actor, initial_pose: list, base_frame_id: str, wait_for_initial_pose: bool, use_initial_pose: bool, namespace_override: str):

scenario_execution/scenario_execution/action_plugins/nav_through_poses.py → scenario_execution/scenario_execution/actions/nav_through_poses.py

@@ -41,11 +41,6 @@ class NavThroughPosesState(Enum):
 class NavThroughPoses(py_trees.behaviour.Behaviour):
     """
     Class to navigate through poses
-
-    Args:
-        goal_pose: a 6 numbers list in str form containing the goal pose of the entity
-            in the shape of [x, y, z. roll, pitch, yaw].
-
     """
 
     def __init__(self, name: str, associated_actor, goal_poses: list, monitor_progress: bool, namespace_override: str):

scenario_execution/scenario_execution/action_plugins/nav_to_pose.py → scenario_execution/scenario_execution/actions/nav_to_pose.py

@@ -44,11 +44,6 @@ class NavToPoseState(Enum):
 class NavToPose(py_trees.behaviour.Behaviour):
     """
     Class to navigate to a pose
-
-    Args:
-        goal_pose: a 6 numbers list in str form containing the goal pose of the entity
-            in the shape of [x, y, z. roll, pitch, yaw].
-
     """
 
     def __init__(self, name: str, associated_actor, goal_pose: list, monitor_progress: bool, action_topic: str, namespace_override: str) -> None:

scenario_execution/scenario_execution/action_plugins/odometry_distance_traveled.py → scenario_execution/scenario_execution/actions/odometry_distance_traveled.py

@@ -26,9 +26,6 @@
 class OdometryDistanceTraveled(py_trees.behaviour.Behaviour):
     """
     Class to wait for a certain covered distance, based on odometry
-    Args:
-        distance [float]: expected distance traveled
-        namespace [str]: namspace of odom topic
     """
 
     def __init__(self, name, associated_actor, distance: float):

scenario_execution/scenario_execution/action_plugins/ros_bag_record.py → scenario_execution/scenario_execution/actions/ros_bag_record.py

@@ -21,7 +21,7 @@
 from enum import Enum
 
 import py_trees
-from scenario_execution_base.behaviors import RunExternalProcess
+from scenario_execution_base.actions import RunExternalProcess
 import shutil
 import signal
 
@@ -38,13 +38,6 @@ class RosBagRecordActionState(Enum):
 class RosBagRecord(RunExternalProcess):
     """
     Class to execute ros bag recording
-
-    Args:
-        destination_dir [str]: destination directory
-        topics [str]: topics to record
-        timestamp_suffix [bool]: add timestamp suffix to output dir?
-        hidden_topics [bool]: whether to record hidden topics
-
     """
 
     def __init__(self, name, destination_dir: str, topics: list, timestamp_suffix: bool, hidden_topics: bool, storage: str):